Sonar based navigation of an autonomous underwater vehicle
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- Publication date
- 1994-12
- Publisher
- Monterey, California: Naval Postgraduate School;Springfield, Va.: Available from National Technical Information Service
- Collection
- navalpostgraduateschoollibrary; fedlink; americana
- Contributor
- Naval Postgraduate School, Dudley Knox Library
- Language
- en_US
Thesis advisor(s): Roberto Cristi
"June 1994."
Thesis (M.S. in Engineering Science (EE)) Naval Postgraduate School, June 1994
Includes bibliographical references
A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's
Mode of access: World Wide Web
System requirements: Adobe Acrobat Reader
Turkish Navy author
"June 1994."
Thesis (M.S. in Engineering Science (EE)) Naval Postgraduate School, June 1994
Includes bibliographical references
A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's
Mode of access: World Wide Web
System requirements: Adobe Acrobat Reader
Turkish Navy author
- Addeddate
- 2013-01-22 23:19:03
- Call number
- o640610729
- Camera
- Canon EOS 5D Mark II
- Contributor.advisor
- Roberto Cristi
- Degree.discipline
- Engineering Science;Electrical Engineering
- Degree.grantor
- Naval Postgraduate School
- Degree.level
- master's
- Degree.name
- M.S. in Engineering Science [EE]
- Description.service
- Turkish Navy author.
- External-identifier
-
urn:handle:10945/28550
urn:oclc:record:1157670563
- Foldoutcount
- 0
- Format.extent
- 86 p.;28 cm.
- Identifier
- sonarbasednaviga00kayi
- Identifier-ark
- ark:/13960/t3515b56p
- Identifier.oclc
- o640610729
- Ocr_converted
- abbyy-to-hocr 1.1.37
- Ocr_module_version
- 0.0.21
- Openlibrary_edition
- OL25484950M
- Openlibrary_work
- OL16861061W
- Page-progression
- lr
- Page_number_confidence
- 89
- Page_number_module_version
- 1.0.3
- Pages
- 104
- Ppi
- 350
- Republisher_date
- 20130123184052
- Republisher_operator
- associate-karina-martinez@archive.org
- Scandate
- 20130123022524
- Scanner
- scribe1.sanfrancisco.archive.org
- Scanningcenter
- sanfrancisco
- Type
- Thesis
- Full catalog record
- MARCXML
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